The Queen joins members of the royal family on the balcony of Buckingham Palace after they attended the Trooping the Colour ceremony

Prince William might be the future King of England, but in his family, there's only one boss.

The Duke of Cambridge appeared alongside his wife Kate Middleton and two children Princess Charlotte (one) and Prince George (three) for the Trooping the Colour ceremony honouring Queen Elizabeth's 90th birthday.

Irish Independent

Queen Elizabeth II arrives at the Patron's Lunch in The Mall, central London in honour of the her 90th birthday, in an open topped Range Rover. Dominic Lipinski/PA Wire

Queen Elizabeth II and the Duke of Cambridge in the Royal Box for the Patron's Lunch in The Mall, central London, in honour of the Queen's 90th birthday. Dominic Lipinski/PA Wire

Queen Elizabeth II and the Duke of Edinburgh arrive at the Patron's Lunch in The Mall, central London in honour of the her 90th birthday, in an open topped Range Rover. Photo credit should read: Dominic Lipinski/PA Wire

Queen Elizabeth II and the Duke of Edinburgh with the Duke and Duchess of Cambridge and Prince Harry arrive at the Patron's Lunch in The Mall, central London in honour of the her 90th birthday, in an open topped Range Rover. Dominic Lipinski/PA Wire

A large crowd sit in St James's Park and watch Queen Elizabeth II and the Duke of Edinburgh on big TV screens, as they drive down The Mall meeting people attending the Patrons Lunch to honour her 90th birthday. John Stillwell/PA Wire

Kathy Martin, John Loughrey, Terry Hutt, and Theresa Iredale sit in St James's Park, London and watch the Patrons Lunch on big TV screens, as members of the Royal family walk down The Mall. John Stillwell/PA Wire

a guest in The Mall during The Patron's Lunch celebrations for The Queen's 90th birthday at The Mall in London. Alan Crowhurst/Getty Images/The Patron's Lunch/PA Wir

The Mall during The Patron's Lunch celebrations for The Queen's 90th birthday at The Mall in London. Alan Crowhurst/Getty Images/The Patron's Lunch/PA Wire

Queen Elizabeth II and the Duke of Edinburgh arrive at the Patron's Lunch in The Mall, central London in honour of the her 90th birthday, in an open topped Range Rover. Toby Melville/PA Wire

Queen Elizabeth II and the Duke of Edinburgh arrive at the Patron's Lunch in The Mall, central London in honour of the her 90th birthday, in an open topped Range Rover. Yui Mok/PA Wire

Members of the Household Division during the Colonel's Review, the final rehearsal of the Trooping the Colour, the Queen's annual birthday parade, in Horse Guards Parade central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 4, 2016. Photo credit should read: John Stillwell/PA Wire

Queen Elizabeth II and the Duke of Edinburgh leaving Buckingham Palace in central London to view the Trooping the Colour ceremony at Horse Guards Parade as the Queen celebrates her official birthday today. PRESS ASSOCIATION Photo. Picture date: Saturday June 11, 2016. The Colour being paraded is the flag of Number 7 Company Coldstream Guards - the unit last performed this special role in 2007. See PA story ROYAL Birthday. Photo credit should read: Dominic Lipinski/PA Wire

LONDON, ENGLAND - JUNE 11: Camilla, Duchess of Cornwall, Catherine, Duchess of Cambridge and Prince Harry sit in a carriage during the Trooping the Colour, this year marking the Queen's 90th birthday at The Mall on June 11, 2016 in London, England. The ceremony is Queen Elizabeth II's annual birthday parade and dates back to the time of Charles II in the 17th Century when the Colours of a regiment were used as a rallying point in battle. (Photo by Ben A. Pruchnie/Getty Images)

LONDON, ENGLAND - JUNE 11: Princess Beatrice, Princess Eugenie and Prince Andrew, Duke of York sit in a carriage during the Trooping the Colour, this year marking the Queen's 90th birthday at The Mall on June 11, 2016 in London, England. The ceremony is Queen Elizabeth II's annual birthday parade and dates back to the time of Charles II in the 17th Century when the Colours of a regiment were used as a rallying point in battle. (Photo by Ben A. Pruchnie/Getty Images)

LONDON, ENGLAND - JUNE 11: Princess Beatrice, Princess Eugenie and Prince Andrew, Duke of York sit in a carriage during the Trooping the Colour, this year marking the Queen's 90th birthday at The Mall on June 11, 2016 in London, England. The ceremony is Queen Elizabeth II's annual birthday parade and dates back to the time of Charles II in the 17th Century when the Colours of a regiment were used as a rallying point in battle. (Photo by Ben A. Pruchnie/Getty Images)

LONDON, ENGLAND - JUNE 11: Sophie, Countess of Wessex and Prince Edward, Earl of Wessex sit in a carriage during the Trooping the Colour, this year marking the Queen's 90th birthday at The Mall on June 11, 2016 in London, England. The ceremony is Queen Elizabeth II's annual birthday parade and dates back to the time of Charles II in the 17th Century when the Colours of a regiment were used as a rallying point in battle. (Photo by Ben A. Pruchnie/Getty Images)

Britain's Princess Beatrice of York (L), Britain's Princess Eugenie of York and Britain's Prince Andrew, Duke of York (R) travel in a horse-drawn carriage from Buckingham Palace on their way to Horse Guards Parade for the Queen's Birthday Parade, 'Trooping the Colour', in London on June 11, 2016. Trooping The Colour and the fly-past are part of a weekend of events to celebrate the Queen's official 90th birthday. / AFP PHOTO / JUSTIN TALLISJUSTIN TALLIS/AFP/Getty Images

LONDON, ENGLAND - JUNE 11: Sophie, Countess of Wessex and Prince Edward, Earl of Wessex sit in a carriage during the Trooping the Colour, this year marking the Queen's 90th birthday at The Mall on June 11, 2016 in London, England. The ceremony is Queen Elizabeth II's annual birthday parade and dates back to the time of Charles II in the 17th Century when the Colours of a regiment were used as a rallying point in battle. (Photo by Ben A. Pruchnie/Getty Images)

LONDON, ENGLAND - JUNE 11: Sophie, Countess of Wessex and Prince Edward, Earl of Wessex sit in a carriage during the Trooping the Colour, this year marking the Queen's 90th birthday at The Mall on June 11, 2016 in London, England. The ceremony is Queen Elizabeth II's annual birthday parade and dates back to the time of Charles II in the 17th Century when the Colours of a regiment were used as a rallying point in battle. (Photo by Ben A. Pruchnie/Getty Images)

Britain's Camilla, Duchess of Cornwall (L), Britain's Catherine, Duchess of Cambridge and Britain's Prince Harry (R) travel in a horse-drawn carriage from Buckingham Palace on their way to Horse Guards Parade for the Queen's Birthday Parade, 'Trooping the Colour', in London on June 11, 2016. Trooping The Colour and the fly-past are part of a weekend of events to celebrate the Queen's official 90th birthday. / AFP PHOTO / JUSTIN TALLISJUSTIN TALLIS/AFP/Getty Images

LONDON, ENGLAND - JUNE 11: Queen Elizabeth II and Prince Philip, Duke of Edinburgh sit in a carriage during the Trooping the Colour, this year marking the Queen's 90th birthday at The Mall on June 11, 2016 in London, England. The ceremony is Queen Elizabeth II's annual birthday parade and dates back to the time of Charles II in the 17th Century when the Colours of a regiment were used as a rallying point in battle. (Photo by Ben A. Pruchnie/Getty Images)

Crowds wait on the edge of Green Park near to Buckingham Palace ahead of the Queen's Birthday Parade, 'Trooping the Colour', in London on June 11, 2016. Trooping The Colour and the fly-past are part of a weekend of events to celebrate the Queen's 90th birthday. / AFP PHOTO / JUSTIN TALLISJUSTIN TALLIS/AFP/Getty Images

A man takes a picture with his mobile phone with a 'queen' case as he waits for the royal procession to leave Buckingham Palace in central London to view the Trooping the Colour ceremony at Horse Guards Parade as Her Majesty celebrates her official birthday today. PRESS ASSOCIATION Photo. Picture date: Saturday June 11, 2016. The Colour being paraded is the flag of Number 7 Company Coldstream Guards - the unit last performed this special role in 2007. See PA story ROYAL Birthday. Photo credit should read: Dominic Lipinski/PA Wire

Members of the Coldstream Guards march past Buckingham Palace ahead of the Queen's Birthday Parade, 'Trooping the Colour', in London on June 11, 2016. Trooping The Colour and the fly-past are part of a weekend of events to celebrate the Queen's 90th birthday. / AFP PHOTO / JUSTIN TALLISJUSTIN TALLIS/AFP/Getty Images

Armed police on patrol before the royal procession make its way down The Mall from Buckingham Palace, central London to Horse Guards Parade for the Trooping the Colour ceremony as the Queen celebrates her official birthday today. PRESS ASSOCIATION Photo. Picture date: Saturday June 11, 2016. The procession will be accompanied by a Sovereign's Escort of the Household Cavalry, made up of Life Guards and Blues and Royals, in their silver and gold breastplates and plumed helmets. The Colour being paraded is the flag of Number 7 Company Coldstream Guards - the unit last performed this special role in 2007. See PA story ROYAL Birthday. Photo credit should read: Steve Parsons/PA Wire

Soldiers marching along The Mall in central London ahead of the Trooping the Colour ceremony at Horse Guards Parade as the Queen celebrates her official birthday today. PRESS ASSOCIATION Photo. Picture date: Saturday June 11, 2016. The Colour being paraded is the flag of Number 7 Company Coldstream Guards - the unit last performed this special role in 2007. See PA story ROYAL Birthday. Photo credit should read: Dominic Lipinski/PA Wire

Members of the Household Division during the Colonel's Review, the final rehearsal of the Trooping the Colour, the Queen's annual birthday parade, in Horse Guards Parade central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 4, 2016. Photo credit should read: John Stillwell/PA Wire

Members of the Household Division during the Colonel's Review, the final rehearsal of the Trooping the Colour, the Queen's annual birthday parade, in Horse Guards Parade central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 4, 2016. Photo credit should read: John Stillwell/PA Wire

Members of the Household Division during the Colonel's Review, the final rehearsal of the Trooping the Colour, the Queen's annual birthday parade, in Horse Guards Parade central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 4, 2016. Photo credit should read: John Stillwell/PA Wire

Members of the Household Division during the Colonel's Review, the final rehearsal of the Trooping the Colour, the Queen's annual birthday parade, in Horse Guards Parade central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 4, 2016. Photo credit should read: John Stillwell/PA Wire

Members of the Household Division during the Colonel's Review, the final rehearsal of the Trooping the Colour, the Queen's annual birthday parade, in Horse Guards Parade central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 4, 2016. Photo credit should read: John Stillwell/PA Wire

Members of the Household Division during the Colonel's Review, the final rehearsal of the Trooping the Colour, the Queen's annual birthday parade, in Horse Guards Parade central London. PRESS ASSOCIATION Photo. Picture date: Saturday June 4, 2016. Photo credit should read: John Stillwell/PA Wire

Britain's Camilla, Duchess of Cornwall (L), Britain's Catherine, Duchess of Cambridge and Britain's Prince Harry (R) travel in a horse-drawn carriage from Buckingham Palace on their way to Horse Guards Parade for the Queen's Birthday Parade, 'Trooping the Colour', in London on June 11, 2016. Trooping The Colour and the fly-past are part of a weekend of events to celebrate the Queen's 90th birthday. / AFP PHOTO / JUSTIN TALLISJUSTIN TALLIS/AFP/Getty Images